I would work to address the fear/panic first. Definitely look at your support people - maybe get a doula or your own midwife, someone who's calm and collected and there just for you. They can help you to refocus during labour, advocate for you and remind you of what you're aiming for. Also maybe consider different preparation - like relaxation, meditation, or whatever suits you as a method to relax and de-panic.
And talk about last time. About how you felt and why and what happened and so on.
These things should also help you to avoid an epidural also.